Reachability-Aware Collision Avoidance for Tractor-Trailer System with Non-Linear MPC and Control Barrier Function

Yucheng Tang, Ilshat Mamaev, Jing Qin, Christian Wurll, Björn Hein. Reachability-Aware Collision Avoidance for Tractor-Trailer System with Non-Linear MPC and Control Barrier Function. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, MI, USA, October 1-5, 2023. pages 274-281, IEEE, 2023. [doi]

Abstract

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